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1. 发明授权

EP0347465B1 METHOD CONTROLLING SERVOMOTOR 失效
标题翻译：一种用于控制伺服电机。
公开(公告)号：EP0347465B1
公开(公告)日：1993-12-15
申请号：EP88908367.1
申请日：1988-09-22
申请人： FANUC LTD.
发明人： SAKAMOTO, Keiji , SEKI, Shinji , IWASHITA, Yasusuke Fanuc Dai-3 bira-Karamatsu
IPC分类号： G05D13/62 , H02P5/00
CPC分类号： H02P23/22
摘要： A method of controlling a servomotor by controlling the speed and current of the servomotor in a digital manner. Correction values (23, 27) are so applied that the integration gain (22) and the loop proportional gain (26) of the current control loop will increase depending upon the speed of the servomotor. Since the current loop gain increases depending upon the speed of the servomotor, no oscillation takes place in the current loop when the servomotor runs at low speeds or is at halt. Furthermore, a decrease in the torque caused by the lowered current loop gain during the high-speed operation can be prevented.

2. 发明授权

EP0396749B1 SYSTEM FOR CONTROLLING SERVO MOTOR 失效
标题翻译：控制系统伺服电机。
公开(公告)号：EP0396749B1
公开(公告)日：1994-10-26
申请号：EP89901317.1
申请日：1989-01-12
申请人： FANUC LTD.
发明人： SAKAMOTO, Keiji , SEKI, Shinji , IWASHITA, Y Fanuc Dai-3 Bira-karamatsu, 3527-1
IPC分类号： H02P5/00
CPC分类号： G05B11/42 , H02P23/16
摘要： A system for controlling a servo motor at high speeds and stably. The gain coefficient of proportional arithmetic unit (1) is changed, and the control loop is continuously switched from the PI control to the I-p control. Thus, there is realized a control which possesses the merits of the two.

3. 发明公开

EP0396749A1 SYSTEM FOR CONTROLLING SERVO MOTOR 失效
标题翻译： REGELUNGSSYSTEMFÜR伺服电机。
公开(公告)号：EP0396749A1
公开(公告)日：1990-11-14
申请号：EP89901317.1
申请日：1989-01-12
申请人： FANUC LTD
发明人： SAKAMOTO, Keiji , SEKI, Shinji , IWASHITA, Y Fanuc Dai-3 Bira-karamatsu, 3527-1
IPC分类号： H02P5/00
CPC分类号： G05B11/42 , H02P23/16
摘要： A system for controlling a servo motor at high speeds and stably. The gain coefficient of proportional arithmetic unit (1) is changed, and the control loop is continuously switched from the PI control to the I-p control. Thus, there is realized a control which possesses the merits of the two.
摘要翻译：高速稳定地控制伺服电机的系统。比例运算单元（1）的增益系数发生变化，控制回路从PI控制继续切换到I-p控制。因此，实现了具有两者优点的控制。

4. 发明授权

EP0287684B1 NEGATIVE FEEDBACK CONTROL SYSTEM 失效
标题翻译：负反馈控制系统
公开(公告)号：EP0287684B1
公开(公告)日：1992-08-05
申请号：EP87907132.2
申请日：1987-10-29
申请人： FANUC LTD.
发明人： SEKI, Shinji , MATSUBARA, Shunsuke
IPC分类号： G05B11/36
CPC分类号： G05B11/36
摘要： A negative feedback control system includes a control that increases or decreases a controlled variable by amplifying digital data resulting from negative feedback on the basis of a quickly responding operation that does not include integration. The negative feedback detects the increase or decrease in a predetermined unit quantity of controlled variable, and produces an increment signal or a decrement signal that corresponds thereto. Among the increment signals and decrement signals, neither up to the n-th decrement signals just after the increment signal nor up to the n-th increment signals just after the decrement signal are counted. The increment signals on and after the (n + 1)th one are counted as a +1 unit quantity of said controlled variable, and the decrement signals on and after the (n + 1)th one are counted as a -1 unit quantity of said controlled variable, thereby suppressing vibration in the controlled variable that would be caused by the negative feedback.

5. 发明公开

EP0347465A1 METHOD CONTROLLING SERVOMOTOR 失效
标题翻译： VERFAHREN ZUR STEUERUNG EINES伺服电机。
公开(公告)号：EP0347465A1
公开(公告)日：1989-12-27
申请号：EP88908367.1
申请日：1988-09-22
申请人： FANUC LTD.
发明人： SAKAMOTO, Keiji , SEKI, Shinji , IWASHITA, Yasusuke Fanuc Dai-3 bira-Karamatsu
IPC分类号： G05D13/62 , H02P5/00
CPC分类号： H02P23/22
摘要： A method of controlling a servomotor by controlling the speed and current of the servomotor in a digital manner. Correction values (23, 27) are so applied that the integration gain (22) and the loop proportional gain (26) of the current control loop will increase depending upon the speed of the servomotor. Since the current loop gain increases depending upon the speed of the servomotor, no oscillation takes place in the current loop when the servomotor runs at low speeds or is at halt. Furthermore, a decrease in the torque caused by the lowered current loop gain during the high-speed operation can be prevented.
ABSTRACT
A servo motor controlling method for controlling both a speed and a current of a servo motor under a digital control. An integration gain (22) and a loop proportional gain (26) of the current controlling loop are subjected to correction (23, 27) so as to be increased depending upon the rotational speed of the servo motor. Since a current loop gain is increased depending upon the rotational speed of the servo motor, the oscillation of the current loop does not occur at the time of low speed drive and stop, and the shortage of torque due to the lowering of the current loop gain at the time of high speed drive can be prevented.
摘要翻译：通过以数字方式控制伺服电动机的速度和电流来控制伺服电动机的方法。校正值（23,27）被应用为使得电流控制回路的积分增益（22）和环路比例增益（26）将根据伺服电动机的速度而增加。由于电流环路增益随伺服电动机的速度而增加，当伺服电动机以低速运行或停止时，电流回路中不会发生振荡。此外，可以防止在高速操作期间由降低的电流回路增益引起的转矩的降低。摘要用于在数字控制下控制伺服电动机的速度和电流的伺服电动机控制方法。对电流控制回路的积分增益（22）和回路比例增益（26）进行校正（23,27），以根据伺服电动机的转速而增加。由于根据伺服电机的转速增加电流回路增益，所以在低速驱动停止时不会发生电流回路的振荡，并且由于电流环路增益的降低导致的转矩不足在高速驱动时可以防止。

6. 发明公开

EP0329796A1 SERVO MOTOR CONTROLLER 失效
标题翻译：麻省理工服务器VERSEHENE REGELUNGSANORDNUNG。
公开(公告)号：EP0329796A1
公开(公告)日：1989-08-30
申请号：EP88907815.0
申请日：1988-08-31
申请人： FANUC LTD.
发明人： SAKAMOTO, Keiji , SEKI, Shinji , IWASHITA, Yasusuke Fanuc Dai 3 Villa Karamatsu
IPC分类号： G05D13/62 , H02P5/00
CPC分类号： H02P23/16
摘要： A servo motor controller for effecting a model reference speed control. An acceleration signal is derived from a speed signal fed back from a servo motor based on differential or difference calculus, an acceleration value of the servo motor (d) is estimated relying on a reference model (2) of the speed control system utilizing a current instruction (T(s)) formed in the speed control loop, the calculated acceleration is compared with an estimated acceleration, and the current instruction (T(s)) is corrected depending upon the result of comparison.
ABSTRACT
The invention provides a servomotor control apparatus which performs standard model-type velocity control. An acceleration signal is formed, by a differential computation or difference computation, from a velocity signal fed back from a servomotor, and an acceleration value of the servomotor (d) is estimated by a criterion model (2) of a velocity control system utilising a current command [T(s)] formed in a velocity control loop. The computed acceleration and the estimated acceleration are compared and the current command [T(s)] is corrected in conformity with the results of the comparison.
摘要翻译：用于实现模型参考速度控制的伺服电机控制器。根据差分或微积分从伺服电动机反馈的速度信号导出加速度信号，伺服电动机的加速度值（d）根据速度控制系统的参考模型（2），利用电流在速度控制回路中形成的指令（T（s）），将所计算的加速度与估计加速度进行比较，并根据比较结果校正当前指令（T（s））。摘要本发明提供一种执行标准模型型速度控制的伺服电动机控制装置。通过微分计算或差分运算，从伺服电动机反馈的速度信号形成加速度信号，并且通过使用速度控制系统的速度控制系统的标准模型（2）来估计伺服电动机（d）的加速度值电流指令ÄT（s）Ü形成在速度控制回路中。比较计算的加速度和估计加速度，并根据比较结果校正当前指令ÄT（s）Ü。

7. 发明公开

EP0287684A1 NEGATIVE FEEDBACK CONTROL SYSTEM 失效
标题翻译： GEGENKOPPLUNGSREGELSYSTEM。
公开(公告)号：EP0287684A1
公开(公告)日：1988-10-26
申请号：EP87907132.2
申请日：1987-10-29
申请人： FANUC LTD
发明人： SEKI, Shinji , MATSUBARA, Shunsuke
IPC分类号： G05B11/36
CPC分类号： G05B11/36
摘要： A negative feedback control system includes a control that increases or decreases a controlled variable by amplifying digital data resulting from negative feedback on the basis of a quickly responding operation that does not include integration. The negative feedback detects the increase or decrease in a predetermined unit quantity of controlled variable, and produces an increment signal or a decrement signal that corresponds thereto. Among the increment signals and decrement signals, neither up to the n-th decrement signals just after the increment signal nor up to the n-th increment signals just after the decrement signal are counted. The increment signals on and afterthe (n + 1)th one are counted as a + 1 unit quantity of said controlled variable, and the decrement signals on and afterthe (n + 1)th one are counted as a -1 unit quantity of said controlled variable, thereby suppressing vibration in the controlled variable that would be caused by the negative feedback.
摘要翻译：数字反馈控制系统基于检测值和指示值来增加或减少控制变量。该系统设有第一偏差检测器和用于低速或积分控制的简单计数器和用于高速控制的第二偏差检测器。为了抑制由控制变量检测器给出的交替的增量和减量信号引起的高速控制回路中的振荡。忽略第一个连续的n个增量或递减脉冲，并在（n + 1）之后开始计数。

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